JP6135713B2 - Motor control device, magnetic flux command generation device, and magnetic flux command generation method - Google Patents

Description

  Embodiments disclosed herein relate to a motor control device, a magnetic flux command generation device, and a magnetic flux command generation method.

  2. Description of the Related Art Conventionally, as a motor control device that drives a motor by generating a magnetic flux command so that a current is reduced with respect to the generated torque, for example, a technique for generating a magnetic flux command from the rotational speed of the motor (see, for example, Patent Documents 1 and 2) ) And a technology for generating a magnetic flux command from a torque current command (see, for example, Patent Documents 3 and 4).

JP 2005-253258 A JP 2012-120429 A JP 2005-253258 A JP 2014-090626 A

  However, any conventional motor control device generates a magnetic flux command by approximating the motor torque equation by limiting the control target and operating conditions, which is equivalent to using the motor torque equation. Therefore, it is assumed that the motor characteristics are grasped in advance.

  One aspect of the embodiments has been made in view of the above, and a motor control device, a magnetic flux command generation device, and a magnetic flux command generation method capable of performing high-efficiency operation without grasping motor characteristics in advance. The purpose is to provide.

  A motor control device according to an aspect of an embodiment includes a drive unit, a current detection unit, and a command generation unit. The drive unit drives the power conversion unit based on a magnetic flux command on which an exploration signal is superimposed. The current detection unit detects an output current of the power conversion unit driven by the driving unit. The command generation unit generates the magnetic flux command so that a current component corresponding to the search signal among current components included in a detection current of the current detection unit is reduced.

  According to one aspect of the embodiment, it is possible to provide a motor control device, a magnetic flux command generation device, and a magnetic flux command generation method capable of performing high-efficiency operation without grasping motor characteristics in advance.

FIG. 1 is a diagram illustrating a configuration example of a motor control device according to the embodiment. FIG. 2 is a diagram illustrating a configuration example of the magnetic flux command generation unit. FIG. 3 is a diagram illustrating a relationship among the armature flux linkage, the generated torque, the current amplitude, and the load angle. FIG. 4 is a diagram illustrating the relationship between the armature flux linkage and the current. FIG. 5 is a diagram illustrating a configuration example of the search signal generation unit. FIG. 6 is a diagram illustrating a configuration example of the MTPA stop control unit. FIG. 7 is a diagram illustrating a configuration example of the base command generation unit. FIG. 8 is a diagram illustrating a configuration example of the correction amount generation unit. FIG. 9 is a diagram illustrating a configuration example of the search component extraction unit and the correction amount generation unit. FIG. 10 is a flowchart showing a flow of magnetic flux command generation processing.

  Hereinafter, embodiments of a motor control device, a magnetic flux command generation device, and a magnetic flux command generation method disclosed in the present application will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by embodiment shown below.

[1. Motor control device]
FIG. 1 is a diagram illustrating a configuration example of a motor control device according to the embodiment. A motor control device 1 shown in FIG. 1 is disposed between a DC power supply 2 and a motor 3. The motor control device 1 includes a power conversion unit 10, a current detection unit 11, and a control unit 12, converts DC power supplied from the DC power supply 2 into AC power, and outputs the AC power to the motor 3. To control.

  The motor control device 1 shown in FIG. 1 is arranged between the DC power supply 2 and the motor 3, but may be arranged between the AC power supply and the motor 3. In this case, the motor control device 1 includes a converter that converts AC power supplied from an AC power source into DC power and supplies the DC power to the power conversion unit 10. The current detection unit 11 and the control unit 12 correspond to an example of a magnetic flux command generation device.

  The power conversion unit 10 includes a capacitor C1 and a plurality of switching elements Q1 to Q6. Switching elements Q1-Q6 are connected in a three-phase bridge, and protective diodes are connected in antiparallel. The switching elements Q1 to Q6 are semiconductor switching elements such as MOSFETs (Metal-Oxide-Semiconductor Field-Effect Transistors) and IGBTs (Insulated Gate Bipolar Transistors). Further, the switching elements Q1 to Q6 may be SiC or GaN as next-generation semiconductor switching elements.

The current detection unit 11 detects a phase current flowing between the power conversion unit 10 and each phase of the U phase, V phase, and W phase of the motor 3. The current detection unit 11 detects the instantaneous values i _u , i _v , i _w of the output current from the power conversion unit 10 to the U phase, the V phase, and the W phase of the motor 3, respectively, and the instantaneous values i _u , i _{v, i w} (hereinafter, the output current _{i u,} i v, described as _{i w)} is output as a detection current.

The current detection unit 11 includes, for example, a Hall element, a shunt resistor, or a current transformer that is a magnetoelectric conversion element for each of the U phase, the V phase, and the W phase, and outputs currents i _u , i _v , i _w. (Hereinafter, sometimes collectively referred to as output current i _o ).

For example, the control unit 12 sets the switching elements Q1 to Q6 of the power conversion unit 10 using the output currents i _u , i _v , and i _w as feedback values so that the motor 3 rotates at a speed according to the speed command ω ^*. PWM (Pulse Width Modulation) signals S <b> 1 to S <b> 6 to be driven are generated and output to the power converter 10. As a result, the DC power supplied from the DC power source 2 is converted into AC power by the power conversion unit 10 and output to the motor 3 to control the motor 3.

[2. Control unit 12]
The control unit 12 includes a three-phase / two-phase conversion unit 13, a magnetic flux estimation unit 14, a speed position estimation unit 15, a torque estimation unit 16, a magnetic flux command output unit 17, and a drive unit 18. The control unit 12 includes, for example, a microcomputer having a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), an input / output port, and various circuits. The CPU of such a microcomputer realizes control to be described later by reading and executing a program stored in the ROM.

  The functions of the three-phase / two-phase conversion unit 13, the magnetic flux estimation unit 14, the speed position estimation unit 15, the torque estimation unit 16, the magnetic flux command output unit 17, and the drive unit 18 are, for example, read and executed by the CPU. It is realized by. The three-phase / two-phase converter 13, the magnetic flux estimator 14, the speed position estimator 15, the torque estimator 16, the magnetic flux command output unit 17, and the drive unit 18 may be partially or entirely configured by hardware. Good.

The three-phase / two-phase converter 13 converts the output currents i _u , i _v , and i _w into two orthogonal αβ components on a fixed coordinate to obtain an αβ axis current i _αβ . The αβ-axis current i _αβ is a vector in the αβ-axis coordinate system, and includes an α-axis current i _α that is an α-axis component and a β-axis current i _β that is a β-axis component.

For example, the magnetic flux estimator 14 describes the estimated value of the αβ-axis component of the armature flux linkage φ based on the αβ-axis current i _αβ and the αβ-axis voltage command v _αβ ^* (hereinafter referred to as αβ-axis estimated magnetic flux φ _αβ ^). Ask). The armature interlinkage magnetic flux φ is a magnetic flux of the stator (primary side) of the motor 3. The αβ-axis estimated magnetic flux φ _αβ ^ includes an α-axis estimated magnetic flux φ _α ^ that is an α-axis component and a β-axis estimated magnetic flux φ _β ^ that is a β-axis component.

The magnetic flux estimator 14 is a known technique, and for example, a magnetic flux calculator disclosed in Japanese Patent Laid-Open Nos. 2015-12770 and 2015-121271 can be used. Note that the magnetic flux estimation unit 14 may have another configuration as long as it can obtain the αβ-axis estimated magnetic flux φ _αβ ^.

The speed position estimation unit 15 obtains the estimated position θ _φ ^ and the estimated speed ω ^ based on the αβ-axis estimated magnetic flux φ _αβ ^ estimated by the magnetic flux estimation unit 14. Speed position estimator 15, for example, obtains an estimated position theta _phi ^ by arctangent calculation of .alpha..beta axis estimated magnetic flux phi _.alpha..beta ^, further obtains the estimated speed omega ^ by differentiating such estimated position theta _phi ^. Incidentally, the estimated position theta _phi ^ is the estimate of the rotor position theta _phi of the motor 3, the rotor position theta _phi, an electrical angle of the rotor of the motor 3.

The torque estimation unit 16 calculates an estimated torque T ^ based on the αβ axis current i _αβ and the αβ axis estimated magnetic flux φ _αβ ^. The estimated torque T ^ is an estimated value of the output torque T of the power converter 10. The output torque T is a torque generated by the motor 3 and may be referred to as a generated torque T. For example, the torque estimation unit 16, T ^ = by _{(φ α ^ × i β -φ} β ^ × i α) calculating a _{× (3/2) × (P n} / 2), the estimated torque T ^ Can be sought. “P _n ” is the number of poles of the motor 3.

The magnetic flux command output unit 17 generates a magnetic flux command φ ^* based on the αβ-axis current i _αβ , the estimated speed ω ^, and the estimated torque T ^. The drive unit 18 generates PWM signals S1 to S6 for driving the power conversion unit 10 based on the estimated position _θφ ^, the magnetic flux command φ ^*, and the αβ-axis estimated magnetic flux _φαβ ^.

The switching elements Q <b> 1 to Q <b> 6 of the power conversion unit 10 are ON / OFF controlled by the PWM signals S <b> 1 to S <b> 6, and U phase, V phase, and W phase voltages corresponding to the magnetic flux command φ ^* are output from the power conversion unit 10. Thereby, rotation of the motor 3 is controlled. The power conversion unit 10 can also include an amplifier circuit that amplifies the PWM signals S1 to S6 and outputs the amplified signals to the switching elements Q1 to Q6.

The magnetic flux command output unit 17 includes a speed command output unit 21, a subtraction unit 22, a speed control unit 23, a torque control unit 24, and a magnetic flux command generation unit 26. The speed command output unit 21 outputs a speed command ω ^* . The speed command ω ^* is a target value for the rotational speed ω of the rotor of the motor 3. The rotational speed ω is an electrical angular speed.

The subtracting unit 22 subtracts the estimated speed ω ^ from the speed command ω ^* to obtain a speed deviation Δω. The speed control unit 23 performs PI (proportional integration) control on the speed deviation Δω so that the speed deviation Δω becomes zero, and generates a torque command T ^* .

The torque control unit 24 calculates a torque deviation ΔT based on the torque command T ^* and the estimated torque T ^. For example, the torque control unit 24 calculates the difference between the torque command T ^* and the estimated torque T ^ and outputs the calculation result as a torque deviation ΔT.

The magnetic flux command generator 26 performs MTPA control (Maximum Torque Per Ampere Control) that minimizes the current of the motor 3 with respect to the torque of the motor 3 based on the αβ-axis current i _αβ , the torque deviation ΔT, and the speed command ω ^*. To obtain a magnetic flux command φ ^* . The magnetic flux command φ ^* is a target value of the armature linkage magnetic flux φ of the motor 3. The configuration of the magnetic flux command generator 26 will be described in detail later.

The drive unit 18 includes a voltage command calculation unit 27 and a PWM control unit 28. The voltage command calculation unit 27 generates a three-phase voltage command v _uvw ^* and an αβ-axis voltage command v _αβ ^* based on the magnetic flux command φ ^* and the αβ-axis estimated magnetic flux φ _αβ ^. The three-phase voltage command v _uvw ^* includes a U-phase voltage command v _u ^* , a V-phase voltage command v _v ^*, and a W-phase voltage command v _w ^* . The αβ-axis voltage command v _αβ ^* includes an α-axis voltage command v _α ^* that is an α-axis component and a β-axis voltage command v _β ^* that is a β-axis component.

For example, the voltage command calculation unit 27 converts the magnetic flux command φ ^* into the αβ-axis magnetic flux command φ _αβ ^* by the calculation of the following formulas (1) and (2). The αβ-axis magnetic flux command φ _αβ ^* includes an α-axis magnetic flux command φ _α ^* that is an α component of the magnetic flux command φ ^* in the αβ-axis coordinate system and a β-axis magnetic flux command φ _β ^* that is a β component.

The voltage command calculation unit 27 obtains a three-phase voltage command v _uvw ^* based on the αβ-axis magnetic flux command φ _αβ ^* , the αβ-axis estimated magnetic flux φ _αβ ^, and the estimated position θ _φ ^.

For example, the voltage command calculation unit 27 performs PI (proportional integration) control on the deviation Δφ _α, for example, so that the deviation Δφ _α between the α-axis magnetic flux command φ _α ^* and the α-axis estimated magnetic flux φ _α ^ becomes zero. A shaft voltage command v _α ^* is obtained. Further, the voltage command calculation unit 27 performs, for example, PI control on the deviation Δφ _β so that the deviation Δφ _β between the β-axis magnetic flux command φ _β ^* and the β-axis estimated magnetic flux φ _β ^ becomes zero, and thereby the β-axis voltage command v _{Find β} ^* .

In addition, the voltage command calculation unit 27 converts the α-axis voltage command v _α ^* and the β-axis voltage command v _β ^* into components of the dq-axis coordinate system that rotates in synchronization with the estimated position θ _φ ^, so that the d-axis voltage A command v _d ^* and a q-axis voltage command v _q ^* are obtained. The voltage command calculation unit 27 calculates the voltage amplitude Vm and the phase θa based on the d-axis voltage command v _d ^* and the q-axis voltage command v _q ^* by the calculation of the following formulas (3) and (4).

The voltage command calculation unit 27 obtains the voltage phase θ by adding the estimated position θ _φ ^ to the phase θa, and obtains the three-phase voltage command v _uvw ^* by the following formulas (5) to (7).

The PWM control unit 28 generates PWM signals _{S <b} ^{> 1} to _{S <b} ^{> 6} according to the three-phase voltage command v _uvw ^* and outputs the PWM signals _{S <b} ^{> 1} to _{S <b} ^{> 6} to the power conversion unit 10. Thus, U-phase, V-phase and W-phase voltage command ^{_{v u *, v v *,}} v w * in accordance with U-phase, voltage of V-phase and W-phase _{v u, v v, v w} power conversion unit 10 to the motor 3. Although not shown, an amplification circuit that amplifies the PWM signals S1 to S6 can be provided between the PWM control unit 28 and the switching elements Q1 to Q6, for example.

[3. Magnetic flux command generator 26]
FIG. 2 is a diagram illustrating a configuration example of the magnetic flux command generation unit 26. As shown in FIG. 2, the magnetic flux command generation unit 26 includes a search signal generation unit 39, a search component extraction unit 40, a magnetic flux command calculation unit 41, an addition unit 42, a magnetic flux restriction unit 43, and an MTPA stop control unit. 44. For example, the magnetic flux command generation unit 26 performs calculation every calculation cycle Ts.

Search signal generating unit 39 of the magnetic flux command generator 26 generates a search signal phi _h for superimposing the magnetic flux instruction phi _MTPA. Frequency of search signal phi _h (hereinafter referred to as a search signal frequency omega _h) is the frequency of the frequency band which the motor control apparatus 1 and the motor 3 is permitted is set to an appropriate value. For example, the search signal frequency ω _h is a frequency that is not in the vicinity of the drive frequency ωo and can be higher than the drive frequency ωo. The drive frequency ωo is the frequency of the output voltage of the power converter 10.

Search signal generating unit 39, for example, by the following calculation equation (8), obtaining the search signal phi _h. In the following formula (8), “K _h ” indicates the amplitude of the search signal φ _h , that is, the superimposed magnetic flux amplitude. “K _h ” is, for example, 1/100 of the rated magnetic flux φ _rate .

Further, the search signal generator 39 can vary the search signal frequency ω _h in accordance with the speed command ω ^* . For example, the search signal generation unit 39 can set the search signal frequency ω _h to a frequency n times (n is a number of 2 or more) the speed command ω ^* .

The search component extraction unit 40 has an amplitude of a current i _mh that is a current component corresponding to the search signal φ _h among the current components included in the output currents i _u , i _v , and i _w (hereinafter referred to as amplitude I _mh ). Is extracted from the αβ-axis current i _αβ . Exploration component extraction unit 40 extracts, for example, the amplitude of the component of the in-phase as the amplitude I _mh exploration signal phi _h the same frequency among .alpha..beta axis current i _.alpha..beta amplitude I _m.

The magnetic flux command calculation unit 41 generates a magnetic flux command φ _MTPA based on the amplitude I _mh , the torque deviation ΔT, and the speed command ω ^* . The magnetic flux command calculation unit 41 includes a base command generation unit 45, a correction amount generation unit 46, and a correction unit 47.

The base command generation unit 45 generates a base magnetic flux command φ _rate '. The base magnetic flux command φ _rate ′ (an example of a base command) is a magnetic flux command that is a base of the magnetic flux command φ ^* , and is generated based on the rated magnetic flux φ _rate , for example. The correction amount generation unit 46 generates a magnetic flux correction amount Δφ _MTPA . Correction unit 47 subtracts the flux correction amount [Delta] [phi _MTPA from base flux command phi _rate ', to generate the magnetic flux command phi _MTPA.

Here, the magnetic flux correction amount Δφ _MTPA generated by the magnetic flux command calculation unit 41 will be described. FIG. 3 is a diagram illustrating a relationship among the armature interlinkage magnetic flux φ, the generated torque T, the current amplitude _Im, and the load angle ρ. Load angle ρ is the current load angle from the d-axis is a magnetic flux axis and a current amplitude I _m is the amplitude of .alpha..beta axis current i _{.alpha..beta.}

As shown in FIG. 3, the relationship between the load angle ρ and the current amplitude I _m will vary depending on the respective state of the armature flux linkage φ and generated torque T. For example, consider the case of _T = T _2. In this case, if the load angle [rho is point B (ρ = ρ _B), is the smallest current amplitude I _m, the armature flux linkage phi at this time is phi _2. If the load angle ρ is point A (ρ = ρ _A ), the armature linkage flux φ is in an excessive state, and if the load angle ρ is point C (ρ = ρ _C ), the armature chain. This is a state where the flux flux φ is insufficient.

Here, it is assumed that superimposes the search signal phi _h the armature flux linkage phi, extracts the current i _mh exploration signal phi _h the same frequency and phase components from the current amplitude I _m. In this case, the armature linkage magnetic flux φ and the current _imh when the load angle ρ is point A, point B, and point C can be expressed as shown in FIG. FIG. 4 is a diagram showing the relationship between the armature flux linkage φ and the current i _mh .

As shown in FIG. 4, when the armature linkage magnetic flux φ increases from the point A, the current i _mh increases, and when the armature linkage flux φ decreases from the point A, the current i _mh decreases. When the armature linkage magnetic flux φ increases from the point C, the current i _mh decreases. When the armature linkage flux φ decreases from the point C, the current i _mh increases. On the other hand, when the armature flux linkage φ is at point B, the current i _mh is zero.

Therefore, by controlling the armature linkage flux φ so that the current i _mh becomes zero, the armature linkage flux φ can follow the high-efficiency flux (point on the MTPA curve shown in FIG. 3). . The magnetic flux command calculation unit 41 calculates the magnetic flux correction amount Δφ _MTPA so that the current i _mh becomes zero, and generates the magnetic flux command φ _MTPA by subtracting the magnetic flux correction amount Δφ _MTPA from the base magnetic flux command φ _rate '. . Thereby, the magnetic flux command φ _MTPA capable of performing the MTPA control can be generated.

By the way, in a state where voltage saturation occurs, it may be difficult to generate a magnetic flux command φ _MTPA for performing MTPA control. Therefore, the magnetic flux command generator 26 determines the voltage saturation state based on the deviation between the limited magnetic flux φ _{s_FW} and the magnetic flux command φ ^* . If it is determined that voltage saturation has occurred, the magnetic flux command generator 26 limits the magnetic flux command φ ^** to the limited magnetic flux φ _{s_FW} so that the output voltage of the power converter 10 does not exceed the limited voltage, for example. . Further, the magnetic flux command generator 26, when judging that the voltage saturation is generated, it is possible to stop the superposition operation and MTPA estimation operation of the search signal phi _h.

Returning to FIG. 2, the description of the magnetic flux command generator 26 will be continued. Adding unit 42 of the magnetic flux command generator 26 adds the probe signal phi _h the magnetic flux instruction phi _MTPA, generates a magnetic flux command phi ^**. Accordingly, the magnetic flux command phi ^** the search signal phi _h the magnetic flux command phi _MTPA is superimposed is generated.

The magnetic flux command φ ^** is output as the magnetic flux command φ ^* through the magnetic flux limiter 43. The magnetic flux limiter 43 includes a limiter 48. The limiter 48 limits the magnetic flux command φ ^* based on the limited magnetic flux φ _{s_FW} .

For example, the limiter 48, based on the limited flux phi _{S_FW,} if the magnetic flux command phi ^** does not exceed the limit flux phi _{S_FW,} while outputting a magnetic flux command phi ^** as flux command phi ^*, the magnetic flux command phi ^** limitations If more than the flux phi _{S_FW,} as the magnetic flux command phi ^* does not exceed a predetermined value, it limits the flux command phi ^*.

Further, the limiter 48 can limit the magnetic flux command φ ^* so that it becomes 10% or less of the rated magnetic flux φ _rate when the magnetic flux command φ ^** exceeds the limit magnetic flux φ _{s_FW} . Thereby, when voltage saturation occurs, the magnetic flux command φ ^* can be limited.

When the deviation Δφ between the limited magnetic flux φ _{s_FW} and the magnetic flux command φ ^* is equal to or less than the preset threshold φ _{STOP, the} MTPA stop control unit 44 stops the low active operation to the search signal generation unit 39 and the magnetic flux command calculation unit 41. Command S _STOP is output. The stop command S _STOP is, for example, S _STOP = K _h × K _b , and K _b is in the range of 1 to 10, for example.

As described above, the MTPA stop control unit 44 activates the low active state when the deviation Δφ between the limited magnetic flux φ _{s_FW} and the magnetic flux command φ ^* is equal to or smaller than a predetermined magnitude with respect to the amplitude K _h of the search signal φ _h. The stop command S _STOP is output. Thus, when the voltage saturation occurs, superposition operation and MTPA estimation operation of the search signal phi _h are both stopped, the magnetic flux command phi ^* generation operation is stopped.

Thus, the magnetic flux command generator 26 generates the magnetic flux command phi ^* by superimposing the search signal phi _h the magnetic flux instruction phi _MTPA, the in-phase component in search signal phi _h the same frequency of the current amplitude I _m The magnetic flux command _φMTPA is generated so that the extracted component becomes zero.

  Thereby, the motor control apparatus 1 concerning embodiment can perform a highly efficient driving | operation, without grasping | ascertaining a motor characteristic in advance. Hereinafter, the configuration of the magnetic flux command generator 26 will be described in more detail.

[3.1. Search signal generator 39]
FIG. 5 is a diagram illustrating a configuration example of the search signal generation unit 39. As shown in FIG. 5, the exploration signal generation unit 39 includes an integration unit 51, a sine calculation unit 52, an amplification unit 53, and a multiplication unit 54. The integrator 51 integrates the search signal frequency ω _h to obtain the search signal phase θ _h .

The integration unit 51 includes an amplification unit 55, an addition unit 56, and a delay unit 57. Amplification unit 55, a search signal frequency omega _h to Ts times. Addition unit 56 adds the delay result of the operation result and the delay unit 57 of the amplifier 55 obtains a search signal phase theta _h. The delay unit 57 delays the search signal phase θ _h by one calculation cycle Ts.

Sine calculating unit 52 based on the search signal phase theta _h, obtaining the sin [theta _h. The amplifying unit 53 multiplies the stop command S _STOP by K with the gain K. The multiplication unit 54 multiplies sin θ _h by the amplification result of the amplification unit 53 to obtain a search signal φ _h (= K × S _STOP × sin θ _h ). The gain K corresponds to “K _h ” in the above-described equation (8), and is, for example, about 1 to 100% with _respect to the rated magnetic flux φ _rate .

[3.2. MTPA stop control unit 44]
Next, the MTPA stop control unit 44 will be described. FIG. 6 is a diagram illustrating a configuration example of the MTPA stop control unit 44.

As shown in FIG. 6, the MTPA stop control unit 44 includes a delay unit 50, a subtraction unit 58, and a stop signal output unit 59. The delay unit 50 delays the magnetic flux command φ ^* by one calculation cycle Ts. Subtraction unit 58 subtracts the flux command phi ^* which is delayed by the delay unit 50 from the limit flux phi _{S_FW,} a deviation Δφ between the limiting flux phi _{S_FW} and flux command phi ^*. The stop signal output unit 59 outputs a stop command S _STOP corresponding to the deviation Δφ between the limited magnetic flux φ _{s_FW} and the magnetic flux command φ ^* . For example, the stop signal output section 59, when the deviation Δφ is the threshold value phi _STOP or _more, set _{S STOP} = 1, when the deviation Δφ is less than the threshold value phi _STOP, set to _{S STOP} = 0.

Incidentally, the stop signal output section 59, when the deviation Δφ is less than the threshold value phi _STOP, may be more deviation Δφ becomes smaller stop command _{S STOP} outputs a stop command _{S STOP} to approach to "0". Thus, even when the deviation Δφ fluctuates before and after the threshold value φ _STOP , it is possible to prevent the stop command S _STOP from repeating “1” and “0”.

[3.3. Base command generation unit 45]
Next, the configuration of the base command generation unit 45 will be described. FIG. 7 is a diagram illustrating a configuration example of the base command generation unit 45.

As shown in FIG. 7, the base command generator 45 includes a rated magnetic flux output unit 60 and a low-pass filter (LPF) 64, and generates a base magnetic flux command φ _rate '.

The rated magnetic flux output unit 60 calculates the rated magnetic flux φ _rate based on the rated frequency ω _rate [rad / s] and the rated voltage V _rate [Vrms]. For example, the rated magnetic flux output unit 60 can obtain the rated magnetic flux φ _rate by the calculation of the following equation (9).

The rated frequency ω _rate is obtained based on the rated rotational speed N _rate and the number of poles P _n of the motor 3 as shown in the following formula (10). The rated frequency ω _rate can be input from, for example, an input unit (not shown) of the motor control device 1, and information on the input rated frequency ω _rate is set in the control unit 12. When the rated rotation speed N _rate and the number of poles P _n are input from the input unit, the rated magnetic flux output unit 60 can obtain the rated frequency ω _rate based on the following formula (10).

The rated voltage V _rate is, for example, the rated voltage of the motor 3 or the rated voltage of the power conversion unit 10. The rated voltage V _rate can be input from, for example, an input unit (not shown) of the motor control device 1, and information on the input rated voltage V _rate is set in the control unit 12.

The low-pass filter 64 performs a low-pass filter process on the rated magnetic flux φ _{rate and} outputs it as a base magnetic flux command φ _rate '. The reason why the first-order lag process is performed by the low-pass filter process is to suppress the excessive output current of the power conversion unit 10 during startup.

[3.4. Correction amount generation unit 46]
Next, the correction amount generation unit 46 will be described. FIG. 8 is a diagram illustrating a configuration example of the correction amount generation unit 46.

  As shown in FIG. 8, the correction amount generation unit 46 includes a multiplication unit 66, an antiwindup control unit 67, an addition unit 68, an integration unit 69, and an impact magnetic flux boost unit 70.

The multiplier 66 multiplies the amplitude I _mh of the current i _{mh by} the stop command S _STOP . Thereby, for example, when the stop command S _STOP is “1”, the amplitude I _mh of the current i _mh is output from the multiplier 66 as it is. On the other hand, when the stop command S _STOP is “0”, the multiplication result of the multiplication unit 66 becomes zero, and the calculation of the magnetic flux correction amount Δφ _MTPA by the correction amount generation unit 46 is stopped.

The anti-windup control unit 67 matches the deviation Δφ between the limited magnetic flux φ _{s_FW} and the magnetic flux command φ ^* when the MTPA stop control unit 44 stops the superposition operation of the search signal φ _h and the MTPA estimation operation. The output of the integration unit 69 is controlled. The antiwindup control unit 67 obtains, for example, a current amount i _AW (hereinafter referred to as current i _AW ) corresponding to the difference between the magnetic flux command φ ^** and the magnetic flux command φ ^*, and outputs the output of the integrating unit 69. Control.

The adder 68 adds the current i _AW of the antiwindup controller 67 to the multiplication result of the multiplier 66. The integrating unit 69 integrates the addition result of the adding unit 68 to generate a magnetic flux correction amount Δφ _MTPA .

Impact flux boost unit 70, based on the torque deviation ΔT and the current amplitude I _m, when the impact to load increases, and outputs the impact flux boost correction value [Delta] [phi _IMP for rapidly changing the magnetic flux correction amount [Delta] [phi _MTPA .

The integration unit 69 can adjust the magnetic flux correction amount Δφ _MTPA based on the impact magnetic flux boost correction value Δφ _IMP of the impact magnetic flux boost unit 70. As a result, when the load increases in an impactful manner, the magnetic flux correction amount Δφ _MTPA can be quickly changed, and for example, step-out due to insufficient magnetic flux can be suppressed.

[3.5. Search component extraction unit 40 and correction amount generation unit 46]
FIG. 9 is a diagram illustrating a configuration example of the search component extraction unit 40 and the correction amount generation unit 46. Hereinafter, the exploration component extraction unit 40, the anti-windup control unit 67 of the correction amount generation unit 46, the integration unit 69, and the impact magnetic flux boost unit 70 will be described in this order.

[3.5.1. Search component extraction unit 40]
As shown in FIG. 9, the exploration component extraction unit 40 includes an amplitude detection unit 71, a band pass filter (BPF) 72, a multiplication unit 73, and a low pass filter (LPF) 74. Amplitude detector 71, for example, by calculating the square sum square root of .alpha..beta axis current i _.alpha..beta represented by the following formula (11), calculates the .alpha..beta axis current i _.alpha..beta current amplitude I _m.

Bandpass filter 72, by performing a band-pass filter processing for removing a frequency component higher than the search signal frequency omega _h a frequency component lower than the search signal frequency omega _h relative current amplitude I _m, the current amplitude I _m The current I _{m_BPF} having the same frequency as the search signal frequency ω _h is extracted. Incidentally, the band pass filter 72 may be configured with a high-pass filter for removing low-pass filter and the search signal frequency omega frequency components lower than _h to remove frequency components higher than the search signal frequency omega _h.

The multiplier 73 multiplies the current I _{m_BPF} by sin θ _h , and the low-pass filter 74 performs a low-pass filter process on the multiplication result of the multiplier 73. As a result, the DC component of the current i _mh having the same phase as the search signal phase θ _h is extracted from the current I _{m_BPF} . DC component of current _{i mh} extracted by the low-pass filter 74 is the amplitude _{I mh} current _{i mh.} Such processing is also called heterodyne processing.

[3.5.2. Anti-windup control unit 67]
The antiwindup control unit 67 includes a subtraction unit 75, a delay unit 76, and an amplification unit 77. The subtracting unit 75 subtracts the magnetic flux command φ ^* from the magnetic flux command φ ^** . The delay unit 76 delays the subtraction result Δφ ^* of the subtraction unit 75 by one calculation cycle Ts.

Amplification unit 77, by multiplying K _a subtraction result is delayed [Delta] [phi ^* by the delay unit 76 generates a current i _AW for anti-windup control. Gain K _a is a coefficient for conversion to a current from the magnetic flux, for example, it can be expressed as shown in the following formula (12). In Expression (12), “I _rate ” is the rated current of the motor 3, and “L” is the reactance of the motor 3.

When the magnetic flux command φ ^* is not restricted by the magnetic flux restricting unit 43, the magnetic flux command φ ^** is output as it is as the magnetic flux command φ ^* from the magnetic flux restricting unit 43, so that the magnetic flux command φ ^** and the magnetic flux command φ ^* Are the same. Therefore, the current i _AW output from the anti-windup control unit 67 is zero.

On the other hand, when the magnetic flux command φ ^* is restricted by the magnetic flux restriction unit 43, the current i _AW output from the antiwindup control unit 67 is a current corresponding to the difference between the magnetic flux command φ ^** and the magnetic flux command φ ^*. is there. Therefore, the amount of current corresponding to the difference between the magnetic flux command φ ^** and the magnetic flux command φ ^* is added to the multiplication result of the multiplication unit 66.

[3.5.3. Integration unit 69]
The integration unit 69 includes amplification units 78 and 80, addition units 79 and 81, a limiter 82, and a delay unit 83. Amplification unit 78 _{K i} times the sum of the adder 68. The integral gain K _i can be expressed as shown in the following formula (13), for example. In Expression (13), ω _MTPA [rad / s] indicates the speed of the MTPA control response, and is 2π, for example.

The adding unit 79 adds the impact magnetic flux boost correction value Δφ _IMP to the amplification result of the amplifying unit 78. The amplification unit 80 multiplies the addition result of the addition unit 79 by Ts. The adder 81 adds the magnetic flux correction amount Δφ _MTPA delayed by one calculation cycle Ts by the delay unit 83 to the amplification result of the amplification unit 80. The limiter 82 limits the addition result of the adding unit 81 within a predetermined range.

[3.5.4. Impact magnetic flux boost unit 70]
The impact magnetic flux boost unit 70 includes absolute value calculation units 84 and 88, a coefficient output unit 85, a limiter 86, a multiplication unit 87, a division unit 89, and an amplification unit 90. The absolute value calculator 84 calculates the absolute value of the speed command ω ^* .

The coefficient output unit 85 outputs a coefficient K _ω corresponding to the absolute value | ω ^* | of the speed command ω ^* . Such coefficient K _omega, for example, the absolute value | is less than the predetermined value omega _th1, is "0", the absolute value | | omega ^* omega ^* | is the case of less than the predetermined value omega _th2 predetermined value omega _th1 or more The larger the absolute value | ω ^* |, the closer to “1”, and “1” when the absolute value | ω ^* | is equal to or greater than the predetermined value _ωth2 .

The limiter 86 limits the torque deviation ΔT within a predetermined range. For example, the limiter 86 sets the torque deviation ΔT to zero when ΔT <T _rate × 0.1 when T ^* > 0 (during powering operation) based on the rated torque T _rate and the torque command T ^*. To do. Further, the limiter 86 sets the torque deviation ΔT to zero when T ^* <0 (during regenerative operation) and ΔT> −T _rate × 0.1.

Thereby, the impact magnetic flux boost unit 70 outputs the impact magnetic flux boost correction value Δφ _IMP corresponding to the torque deviation ΔT when the torque increases, and sets the impact magnetic flux boost correction value Δφ _IMP to zero when the torque decreases. Can be set to output. The limiter 86 is provided with hysteresis in the limit operation in the state change between the power running operation and the regenerative operation.

Multiplication section 87 multiplies the coefficient K _omega to the torque deviation ΔT that is output from the limiter 86. Thus, the speed command omega ^* is in the case of less than the predetermined value omega _th1, that the impact flux boost correction value [Delta] [phi _IMP in accordance with the torque deviation ΔT is output is suppressed.

The absolute value calculation unit 88 calculates the absolute value of the multiplication result of the multiplication unit 87. Divider 89 divides the absolute value calculated by the absolute value calculation unit 88 with a current amplitude I _m. Thereby, the insufficient magnetic flux can be calculated. The amplifying unit 90 has a gain K _IMP , and the impact magnetic flux boost correction value Δφ _IMP (= K _IMP × (| K _ω × ΔT | / I _m )) by multiplying the division result of the dividing unit 89 by K _IMP. Is generated.

[4. Generation process of magnetic flux command φ ^* ]
Next, the flow of processing for generating the magnetic flux command φ ^* will be described. FIG. 10 is a flowchart showing a flow of processing for generating the magnetic flux command φ ^* . The generation process of the magnetic flux command φ ^* is repeatedly executed by the motor control device 1.

As shown in FIG. 10, the current detecting unit 11 detects the output current i _o from the power conversion unit 10 U phase of the motor 3, as a phase current flowing to each phase of the V-phase and W-phase (step S10). Control unit 12 extracts the corresponding component search signal phi _h of current components contained in the output current i _o (step S11).

Controller 12, components corresponding to search signal phi _h to generate a magnetic flux command phi ^* to reduce (step S12). The control unit 12 drives the power conversion unit 10 based on the generated magnetic flux command φ ^* (step S13).

The magnetic flux command generator 26 described above extracts the amplitude I _mh of the current i _mh as a component corresponding to the exploration signal φ _h and generates the magnetic flux command φ ^* so that the amplitude I _mh is reduced. It is not limited to such a configuration. For example, the magnetic flux command generator 26 as long as it can result in a current i _mh generates magnetic flux command phi ^* to reduce, for example, instead of the amplitude I _mh current i _mh, extract current i _mh The magnetic flux command φ ^* may be generated so that the current i _mh is reduced.

Further, the magnetic flux command generator 26 described above, 'but generates the magnetic flux command phi _MTPA by subtracting the magnetic flux correction amount [Delta] [phi _MTPA from base flux command phi _rate' based flux command phi _rate without using a flux correction The quantity Δφ _MTPA can also be the magnetic flux command φ _MTPA .

  Further, the magnetic flux command generation unit 26 described above includes the MTPA stop control unit 44, the anti-windup control unit 67, the impact magnetic flux boost unit 70, and the like. There may be no need.

In the above-described example, the magnetic flux command generation unit 26 outputs the magnetic flux command φ ^* to the voltage command calculation unit 27. However, the magnetic flux command generation unit 26 outputs the αβ-axis magnetic flux command φ _αβ ^* to the voltage command calculation unit 27. It may be a configuration. In this case, the magnetic flux command generator 26 performs the calculations of the above formulas (1) and (2).

As described above, the motor control device 1 according to the embodiment includes the drive unit 18, the current detection unit 11, and the magnetic flux command generation unit 26 (an example of a command generation unit). Driver 18 drives the power conversion unit 10 based on the magnetic flux command phi ^* the search signal phi _h is superimposed. The current detection unit 11 detects the output current of the power conversion unit 10 driven by the drive unit 18. The magnetic flux command generator 26 is a component of the current i _mh corresponding to the search signal φ _h among the current components included in the output currents i _u , i _v , i _w (an example of the detected current) detected by the current detector 11. (e.g., amplitude _{I mh} current _{i mh)} generates a magnetic flux command phi ^* to reduce. Thereby, the motor control device 1 can perform high-efficiency operation without measuring the motor characteristics of the motor 3 in advance.

The magnetic flux command generation unit 26 includes an exploration component extraction unit 40 (an example of an extraction unit) and a magnetic flux command calculation unit 41 (an example of a calculation unit). Exploration component extraction unit 40 extracts the component of the current _{i mh} contained in the output current _{i o} detected by the current detection unit 11 (e.g., the current _{i mh} amplitude _{I mh).} The magnetic flux command calculation unit 41 calculates the magnetic flux command φ ^* so that the component of the current i _mh extracted by the exploration component extraction unit 40 is reduced. Thus, since to extract the current i _mh corresponding to search signal phi _h, it is possible to accurately perform highly efficient operation.

The magnetic flux command calculation unit 41 calculates the magnetic flux command φ ^* so that the exploration component extraction unit 40 has a component of the current _imh . By current i _mh corresponding to search signal phi _h is zero, it is possible to the current to a minimum with respect to the generated torque T, it is possible to perform highly efficient operation with high accuracy.

The magnetic flux command calculation unit 41 includes a base command generation unit 45, a correction amount generation unit 46, and a correction unit 47. The base command generation unit 45 generates a base magnetic flux command φ _rate ′ that is a base of the magnetic flux command φ ^* . The correction amount generation unit 46 generates a magnetic flux correction amount Δφ _MTPA that reduces the current i _mh based on the component of the current i _mh extracted by the exploration component extraction unit 40. The correcting unit 47 corrects the base magnetic flux command φ _rate 'with the magnetic flux correction amount Δφ _MTPA to generate the magnetic flux command φ ^* . Accordingly, since it works to reduce the magnetic flux command phi ^* according to the load from the base flux command phi _{rate 'as} a base of the magnetic flux command phi ^*, for example, a magnetic flux is insufficient when starting the control of the motor 3 You can avoid that.

Further, the base command generation unit 45 performs a low-pass filter process on the rated magnetic flux φ _rate (an example of a preset original command) by the low-pass filter 64 to generate a base magnetic flux command φ _rate '. In this way, by applying the low-pass filter process, a first-order lag can be generated, so that the current at startup can be suppressed.

The correction amount generation unit 46 includes an integration unit 69. Integrator 69, the components of the current _{i mh} extracted by search component extraction unit 40 (e.g., amplitude _{I mh} current _{i mh)} by integrating the generating a magnetic flux correction amount [Delta] [phi _MTPA. Thereby, the magnetic flux correction amount Δφ _MTPA can be appropriately generated so as to reduce the current component.

The motor control device 1 according to the embodiment includes a speed control unit 23 (an example of a torque command generation unit) and a torque estimation unit 16. The speed control unit 23 generates a torque command T ^* . The torque estimating unit 16 obtains an estimated torque T ^ that is an estimated value of the output torque T of the power converting unit 10. The correction amount generation unit 46 includes an impact magnetic flux boost unit 70 (an example of an adjustment unit). The impact magnetic flux boost unit 70 adjusts the magnetic flux correction amount Δφ _MTPA based on the difference ΔT between the torque command T ^* and the estimated torque T ^. Thereby, for example, when there is a sudden load change, the magnetic flux can be changed abruptly, and high-efficiency operation can be performed with high accuracy.

Impact flux boost unit 70, based on the result of dividing by the amplitude I _m of the output current i _o of the difference ΔT between the torque command T ^* and the estimated torque T ^, to adjust the magnetic flux correction amount [Delta] [phi _MTPA. Thereby, for example, when there is a sudden load change, the magnetic flux can be accurately changed.

  As described above, the motor control device 1 includes the “power conversion unit for passing a current based on the magnetic flux command on which the search signal is superimposed” to the motor and “the current component corresponding to the search signal among the current components included in the current. ”Means for generating a magnetic flux command so that the current flowing from the power conversion unit becomes smaller. The power conversion unit 10 is an example of “a power conversion unit that causes a current based on a magnetic flux command on which an exploration signal is superimposed to flow to a motor”, and a magnetic flux command generation unit 26 includes “the current component included in the current among the current components. It is an example of “means for generating a magnetic flux command so that a current flowing from the power conversion unit is reduced based on a current component corresponding to a search signal”.

  Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications can be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

DESCRIPTION OF SYMBOLS 1 Motor control apparatus 2 DC power supply 3 Motor 10 Power conversion part 11 Current detection part 12 Control part 14 Magnetic flux estimation part 15 Speed position estimation part 16 Torque estimation part 17 Magnetic flux command output part 18 Drive part 21 Speed command output part 22 Subtraction part 23 Speed control unit 24 Torque control unit 26 Magnetic flux command generation unit 27 Voltage command calculation unit 28 PWM control unit 39 Search signal generation unit 40 Search component extraction unit 41 Magnetic flux command calculation unit 42 Addition unit 43 Magnetic flux restriction unit 44 MTPA stop control unit 45 Base Command generation unit 46 Correction amount generation unit 47 Correction unit 48 Limiter 64 Low pass filter 69 Integration unit 70 Impact magnetic flux boost unit

Claims (8)

A drive unit that drives the power converter based on the magnetic flux command on which the exploration signal is superimposed;
A current detection unit that detects an output current of the power conversion unit driven by the drive unit;
A command generation unit that generates the magnetic flux command so that a current component corresponding to the search signal among current components included in the detection current of the current detection unit is reduced ;
The command generation unit
An extraction unit for extracting a current component corresponding to the exploration signal among the current components included in the detection current of the current detection unit;
A calculation unit that calculates the magnetic flux command so that the current component extracted by the extraction unit is reduced,
The computing unit is
A base command generation unit that generates a base command serving as a base of the magnetic flux command;
A correction amount generation unit that generates a magnetic flux correction amount that reduces the current component based on the current component extracted by the extraction unit;
A motor control device comprising: a correction unit that corrects the base command with the magnetic flux correction amount to generate the magnetic flux command . The computing unit is
The motor control device according to claim 1, characterized in that said current component extracted by the extraction unit calculates the magnetic flux command to be zero. The base command generator is
The motor control device according to claim 1 or 2 performs low-pass filtering and generates the base command to the original command set in advance. The correction amount generation unit
The motor control device according to claim 1, further comprising an integration unit that integrates the current component extracted by the extraction unit to generate the magnetic flux correction amount. A torque command generator for generating a torque command;
A torque estimation unit that estimates an output torque of the power conversion unit,
The correction amount generation unit
According to any one of claims 1 to 4, characterized in that it comprises an adjusting unit for adjusting the flux correction amount based on a difference between the output torque estimated by the torque estimating unit and the torque command Motor control device. The adjustment unit is
Based a difference between the output torque estimated by the torque estimating unit and the torque command to the result of dividing by the amplitude of the output current, according to claim 5, characterized in that adjusting the flux correction amount Motor control device. A current detection unit that detects an output current of a power conversion unit that is driven based on a magnetic flux command on which an exploration signal is superimposed;
A command generation unit that generates the magnetic flux command so that a current component corresponding to the search signal among current components included in the detection current of the current detection unit is reduced ;
The command generation unit
An extraction unit for extracting a current component corresponding to the exploration signal among the current components included in the detection current of the current detection unit;
A calculation unit that calculates the magnetic flux command so that the current component extracted by the extraction unit is reduced,
The computing unit is
A base command generation unit that generates a base command serving as a base of the magnetic flux command;
A correction amount generation unit that generates a magnetic flux correction amount that reduces the current component based on the current component extracted by the extraction unit;
A magnetic flux command generation device comprising: a correction unit that corrects the base command with the magnetic flux correction amount and generates the magnetic flux command. Detecting the output current of the power converter driven based on the magnetic flux command on which the exploration signal is superimposed;
Generating a base command as a base of the magnetic flux command;
Extracting a current component corresponding to the search signal from current components included in the detected output current;
Generating a magnetic flux correction amount for reducing the current component corresponding to the search signal based on the extracted current component;
And correcting the base command with the magnetic flux correction amount to generate the magnetic flux command.

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